solve question $2$

Write a MATLAB program to calculate the inverse homogenous transformation matrix $T_B^{A-1}$ using the symbolic formula. Calculate your result with a numerical MATLAB function $($inv$).$ Demonstarte that both methods yield correct results $)=(I_4.$ Demonstarte this for examples in a$)$ and b$)$ of problem $1.$

a$)=10,=20,=30,$ and $P_B^A={\left[\begin{array}{ccc}1& 2& 3\end{array}\right]}^T.$

b$)=0,=20,=0,$ and $P_B^A={\left[\begin{array}{ccc}3& 0& 1\end{array}\right]}^T.$

Calculate $P_A$ in each case given $P_B={\left[\begin{array}{ccc}1& 0& 1\end{array}\right]}^T.$